WO2009101835A1 - Dispositif et procédé de montage de tableau de bord de véhicule - Google Patents

Dispositif et procédé de montage de tableau de bord de véhicule Download PDF

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Publication number
WO2009101835A1
WO2009101835A1 PCT/JP2009/050523 JP2009050523W WO2009101835A1 WO 2009101835 A1 WO2009101835 A1 WO 2009101835A1 JP 2009050523 W JP2009050523 W JP 2009050523W WO 2009101835 A1 WO2009101835 A1 WO 2009101835A1
Authority
WO
WIPO (PCT)
Prior art keywords
instrument panel
vehicle
working mechanism
gripping means
mounting
Prior art date
Application number
PCT/JP2009/050523
Other languages
English (en)
Japanese (ja)
Inventor
Tomohiro Sugimoto
Mitsugu Takahashi
Masaru Maruo
Original Assignee
Honda Motor Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2008030488A external-priority patent/JP4896049B2/ja
Priority claimed from JP2008030487A external-priority patent/JP4896048B2/ja
Application filed by Honda Motor Co., Ltd. filed Critical Honda Motor Co., Ltd.
Priority to US12/866,429 priority Critical patent/US8479369B2/en
Priority to CN200980104940.2A priority patent/CN101952161B/zh
Publication of WO2009101835A1 publication Critical patent/WO2009101835A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
    • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
    • B62D65/14—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being passenger compartment fittings, e.g. seats, linings, trim, instrument panels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y10T29/49947—Assembling or joining by applying separate fastener
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49998—Work holding
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53039—Means to assemble or disassemble with control means energized in response to activator stimulated by condition sensor
    • Y10T29/53061—Responsive to work or work-related machine element
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53539—Means to assemble or disassemble including work conveyor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53961—Means to assemble or disassemble with work-holder for assembly
    • Y10T29/53974—Means to assemble or disassemble with work-holder for assembly having means to permit support movement while work is thereon

Definitions

  • the present invention relates to a vehicle instrument panel mounting apparatus and method for assembling an instrument panel in a vehicle compartment.
  • an operation of automatically assembling an instrument panel, which is one of heavy parts, into a passenger compartment of a car body using a robot is performed.
  • an instrument panel assembly assembling apparatus disclosed in Japanese Patent Laid-Open No. 5-139350 is known. As shown in FIG. 14, this assembling apparatus is provided with a supply line 4 for an instrument panel assembly 3 in parallel with an assembly line 2 for transporting the automobile body 1.
  • assembly tools 5a, 5b, and 5c are arranged at the end of the supply line 4, and appropriate instrument panel assemblies 3 are conveyed to the assembly tools 5a, 5b, and 5c, respectively.
  • a gantry type robot 6 is provided from the assembly line 2 to the end of the supply line 4, and a chuck part 7 a is attached to the tip of the robot arm 6 a of the gantry type robot 6.
  • the chuck part 7a can be connected to a chuck part 7b attached to one end of the assembly tools 5a to 5c.
  • An articulated robot 8 is installed on both sides of the body body 1, and a nutrunner (not shown) that bolts the instrument panel assembly 3 to the body body 1 at the arm tip of the articulated robot 8;
  • a plurality of cameras are provided for measuring the position of the body main body 1 conveyed on the assembly line 2 and measuring the position of the bolt holes when the bolts are fastened by the nut runner.
  • the instrument panel assembly 3 is conveyed to a predetermined mounting position in the vehicle interior of the body main body 1 under the driving action of the gantry robot 6 while being supported by the assembling tools 5a, 5b, or 5c. .
  • the drive control of the gantry robot 6 is considerably complicated, and it is difficult to quickly position the instrument panel assembly 3 that is a heavy object at a predetermined mounting position.
  • the present invention solves this type of problem, and an object of the present invention is to provide a vehicle instrument panel mounting apparatus and method capable of quickly and efficiently incorporating an instrument panel into a vehicle compartment.
  • the present invention relates to a mounting device for an instrument panel for a vehicle for assembling an instrument panel in a vehicle interior of the vehicle.
  • the mounting apparatus includes an instrument panel gripping means for gripping an instrument panel, and automatically transports the instrument panel and has an assist function for holding the weight of the instrument panel, and the instrument panel gripping means. And a second working mechanism for arranging the instrument panel in the vehicle interior by operating the instrument panel gripping means.
  • the attachment device includes an instrument panel gripping means for gripping the instrument panel, and automatically transports the instrument panel and has an assist function for holding the weight of the instrument panel, and the instrument panel.
  • a second working mechanism for detachably connecting to the gripping means and operating the instrument panel gripping means to place the instrument panel in the vehicle interior.
  • the second working mechanism comprises the instrument A bolt tightening means for screwing the instrument panel to the instrument panel mounting position of the vehicle is mounted.
  • the present invention relates to a mounting method for a vehicle instrument panel for assembling an instrument panel in a vehicle cabin.
  • This attachment method includes a step of gripping an instrument panel by an instrument panel gripping means of a first work mechanism, and automatically transporting the instrument panel to an operation start position by a second work mechanism, and the instrument panel is in the operation start position.
  • the second work mechanism is connected to the instrument panel gripping means, and the instrument panel gripping means is held by the second work mechanism while holding the weight of the instrument panel by the first work mechanism.
  • this attachment method includes a step of gripping an instrument panel by an instrument panel gripping means of a first work mechanism, and automatically transporting the instrument panel to an operation start position by a second work mechanism; and A step of connecting the second working mechanism to the instrument panel gripping means when transported to the operation start position; and a weight of the instrument panel is held by the first working mechanism while the instrument panel is held by the second working mechanism.
  • the instrument panel is screwed to the instrument panel mounting position in the vehicle compartment by the step of operating the gripping means and arranging the instrument panel in the vehicle interior and the bolt fastening means mounted on the second working mechanism. And a step of stopping.
  • the second work mechanism is given to the second work mechanism when operating the instrument panel.
  • the load on the instrument panel is effectively reduced. Therefore, the second working mechanism can be reduced in size satisfactorily, the entire work facility can be easily reduced in size and simplified, and the installation work of the instrument panel can be performed quickly and efficiently while reducing the inertia. It becomes possible.
  • the second working mechanism when the second working mechanism is stopped due to maintenance or the like, the second working mechanism can be detached from the first working mechanism and placed at the retracted position. As a result, the operator can easily perform the assembly operation of the instrument panel under the assisting action of the first working mechanism.
  • the second working mechanism is equipped with bolt fastening means for screwing the instrument panel to the instrument panel mounting position of the vehicle. For this reason, the floor space occupied by the entire work facility can be further reduced, and the space efficiency can be improved.
  • FIG. 1 is a perspective explanatory view of an assembly line in which a mounting device for a vehicle instrument panel according to a first embodiment of the present invention is arranged. It is a schematic perspective explanatory drawing of the assist machine which comprises the said attachment apparatus. It is a perspective explanatory view of the work robot which constitutes the attachment device. It is a block diagram of the said attachment apparatus. It is a flowchart explaining operation
  • FIG. 1 is a perspective explanatory view of an assembly line 12 in which a mounting device 10 for a vehicle instrument panel according to a first embodiment of the present invention is arranged.
  • the assembly line 12 includes a conveyance path 16 that mounts an automobile body (vehicle) 14 on a carriage 15 and conveys the pitch to an instrument panel assembly work station.
  • the attachment device 10 includes an assist machine (first working mechanism) 18, a right working robot (second working mechanism) 20 and a left working robot (second working mechanism) 22 arranged on both sides of the vehicle body 14. And an instrument panel 24 is automatically assembled in the passenger compartment 14a of the automobile body 14.
  • Two reference holes (not shown) for attaching the instrument panel 24 to the automobile body 14 are formed at both ends in the longitudinal direction (vehicle width direction) of the instrument panel 24, and instrument panel gripping means to be described later A gripping hole 26 with which 78 is engaged is formed (see FIG. 2).
  • the assist machine 18 includes a first frame body 30 that is located above the instrument panel take-out station 28 and extends in the transport direction (arrow T direction) of the automobile body 14. As shown in FIGS. 1 and 2, the first frame 30 is provided with a forward cylinder 32 and a reverse cylinder 34 facing each other.
  • the first frame 30 has a pair of slide rails 38 extending in the direction of the arrow T, and the second frame 42 can be advanced and retracted in the direction of the arrow T via a plurality of rollers 40 respectively.
  • Supported by The second frame body 42 is provided with a loading cylinder 44 and a loading cylinder 46 facing each other in the direction of arrow B.
  • the second frame 42 has a pair of slide rails 50 extending in the arrow B direction, and the third frame 54 advances and retreats in the arrow B direction via a plurality of rollers 52 respectively. Supported as possible.
  • the first frame member 56 and the second plate member 58 are provided on the third frame body 54.
  • the first plate member 56 is fixedly attached with the distal end portion of the rod 32a of the forward movement cylinder 32 and the distal end portion of the rod 34a of the backward movement cylinder 34.
  • the distal end portion of the rod 44 a of the loading cylinder 44 and the distal end portion of the rod 46 a of the unloading cylinder 46 are fixed to the second plate member 58.
  • a cylinder 60 is disposed in the vertical direction, and a rod (not shown) extending downward from the cylinder 60 is disposed inside the slide guide 62.
  • a lift end 64 is connected to the lower end of the rod of the cylinder 60, and the lift end 64 extends in the horizontal direction and supports one end of the arm 66.
  • a force sensor 67 is provided at the lift end 64. Is provided.
  • the arm portion 66 is rotatable around an axis via a bearing (not shown), and can be fixed at a predetermined rotational angle position via a lock cylinder 68.
  • the lock cylinder 68 is supported by the slide guide 62, and a rod 68 a extending downward from the lock cylinder 68 is connected to the arm portion 66.
  • a pair of cylinders 70 are fixed to the arm portion 66 in opposite directions.
  • Instrument panel support arms 72 are connected to the rods 70a extending from the cylinder 70, respectively.
  • the instrument panel support arm 72 can advance and retreat along a guide rail 74 provided on the arm portion 66, and a coupling member 76 that engages with each gripping hole 26 of the instrument panel 24 is provided at each distal end portion. It is done.
  • An instrument panel gripping means 78 is constituted by the pair of cylinders 70 and the pair of instrument panel support arms 72. At both ends of the arm portion 66, operation levers 82 constituting the connecting means 80 are fixed.
  • the operation lever 82 has a substantially columnar shape, and a gripping portion 84 having a reduced diameter is formed in the central portion.
  • the second frame 42 is provided with a brake means 86 for positioning the second frame 42 at a predetermined position.
  • the brake means 86 is pushed up and brought into sliding contact with the first frame 30, whereby the second frame 42 is stopped at an arbitrary position.
  • a first limit switch 88a for detecting the insertion position and a second limit switch 88b for detecting the forward end are provided at the front edge and the front end of the first frame 30 in the arrow T direction.
  • a third limit switch 88c for detecting the original position is provided at the rear end of the first frame 30 in the arrow T direction.
  • Brake means 86 are provided at both ends of the third frame 54 in the direction of arrow B. At both ends of the second frame 42 in the direction of arrow B, a fourth limit switch 88d for detecting the feed end position and a fifth limit switch 88e for detecting the return end position are provided.
  • the work robot 20 on the right side and the work robot 22 on the left side are configured in the same manner, and the configuration of the work robot 20 will be described below. The detailed explanation is omitted.
  • the work robot 20 includes a robot body 90 that can turn freely.
  • a wrist portion 94 is provided at the distal end portion of the arm 92 constituting the robot body 90, and a hand portion 96, a nutrunner unit (bolt tightening means) 98, and a photographing unit 100 are attached to the wrist portion 94.
  • the hand portion 96 includes a pair of claw portions 102 that can be opened and closed via an actuator (not shown).
  • the hand portion 96 constitutes an operating lever 82 of the instrument panel gripping means 78 and a connecting means 80, and also means for gripping a bolt 110 described later. ing.
  • the nutrunner unit 98 includes a pair of rodless cylinders 103a and 103b attached to the tip of the wrist portion 94. Nutrunners 106a and 106b are attached to the rodless cylinders 103a and 103b via sliders 104a and 104b.
  • the photographing unit 100 includes a CCD imaging camera (hereinafter simply referred to as a camera) 108 for performing instrument panel set confirmation, attachment position deviation confirmation, and the like.
  • a bolt stock part 112 that accommodates a bolt 110 for attaching the instrument panel 24 to the automobile body 14 is taken out from the bolt stock part 112.
  • a preset base 114 for aligning the two bolts 110 is provided.
  • the cameras 108 of the work robots 20 and 22 output image information such as vehicle body images and instrument panel position images to the image processing device 120.
  • the image processing device 120 outputs image information obtained from each camera 108 to the calculation unit 122, and the calculation unit 122 performs calculation processing on the image information.
  • the calculation unit 122 outputs the detection result of the vehicle body position and the instrument panel position to the main control device 124, and the main control device 124 controls the operation of the work robots 20 and 22 based on the input calculation information. At the same time, the operation of the assist machine 18 is also controlled.
  • the operation of the assist machine 18 is shown in FIG. 5, the operation of the work robots 20 and 22 is shown in FIG. 6, and the operation of the assist machine 18 and the work robots 20 and 22 is as shown in FIG. Done in relation to each other.
  • the instrument panel gripping means 78 is positioned on the instrument panel 24 arranged in the instrument panel take-out station 28.
  • the elevating end portion 64 is lowered via a rod (not shown).
  • Instrument panel gripping means 78 is attached to the elevating end portion 64, and the instrument panel gripping means 78 is disposed to face the instrument panel 24 on the instrument panel take-out station 28. At that time, the lock cylinder 68 is biased and the expansion and contraction of the rod 68a is restricted, so that the arm portion 66 is supported so as not to rotate.
  • step S2 by driving the cylinder 60 in the reverse direction, the instrument panel gripping means 78 rises while gripping the instrument panel 24 and is disposed at a predetermined height position (step S2).
  • the work robot 20 grips one operation lever 82 provided on the instrument panel gripping means 78 by the pair of claws 102 constituting the hand portion 96.
  • a small-diameter gripping portion 84 is formed on the substantially central side of the operation lever 82, and the pair of claw portions 102 grips the gripping portion 84, so that a predetermined position of the operation lever 82 is ensured. It can be gripped.
  • the work robot 20 performs operations such as turning, rotating, and moving the hand unit 96 in a predetermined direction.
  • the angular position of the arm portion 66 is adjusted via the operation lever 82.
  • the posture of the instrument panel 24 is changed (step S4), and after the instrument panel 24 is arranged in a predetermined posture, the lock cylinder 68 is biased to restrict the expansion and contraction of the rod 68a, Part 66 is retained.
  • the lock cylinder is set so that the reaction force detected by the force sensor when the arm portion 66 is rotated approximates zero or a small amount. It is also possible to control 68.
  • step S5 the brake means 86 is pushed up when the second limit switch 88b is turned on when the second frame body 42 moves in the direction of arrow D under the driving action of the advance cylinder 32.
  • step S6 the process proceeds to step S7, where the instrument panel setting operation is performed by the work robot 20 and This is performed via the work robot 22.
  • the assist device 18 is switched from the instrument panel automatic transport mode to the instrument panel assist transport mode.
  • the work robot 20 operates the instrument panel gripping means 78 that grips the instrument panel 24 under the assisting action of the assist machine 18 to put the instrument panel 24 into the compartment 14a of the vehicle body 14.
  • the second plate member 58 fixed to the tip end of the rod 44a is pressed in the direction of arrow B under the drive action of the loading cylinder 44 as shown in FIG.
  • the third frame body 54 moves in the direction of arrow B along the slide rail 50 of the second frame body 42, and assists the loading operation of the instrument panel 24 by the work robot 20.
  • the work robot 20 turns the instrument panel gripping means 78 in the direction of the arrow R ⁇ b> 1 to move the instrument panel 24 to the in-vehicle posture under the moving action of the hand unit 96. Further, after the instrument panel 24 is inserted into the passenger compartment 14a, the instrument panel gripping means 78 is turned in the direction of the arrow R2 to change the attitude of the instrument panel 24 to the set posture.
  • the assist machine 18 is switched to the instrument panel assist transfer mode during the operation of the work robot 20 described above. Therefore, the assist machine 18 senses the load in the direction of the arrow H of the instrument panel 24 supported by the arm portion 66 or the reaction force applied to the instrument panel gripping means 78 via the force sensor 67.
  • the forward cylinder 32, the reverse cylinder 34, the carry-in cylinder 44, and the carry-out cylinder 46 are controlled so that the load (reaction force) detected by the force sensor 67 approximates 0 or a very small amount. .
  • the forward cylinder 32, the reverse cylinder 34, the carry-in cylinder 44, and the carry-out cylinder 46 are all opened to the atmosphere (off state) instead of the above control. May be.
  • each cylinder 70 is driven in the opposite direction, and the pair of instrument panel support arms 72 moves in a direction away from both sides of the instrument panel 24. For this reason, the coupling member 76 is detached from the gripping hole 26, and the gripping action of the instrument panel 24 is released (step S8).
  • the instrument panel gripping means 78 moves to the outside of the passenger compartment 14a via the work robot 20 and, if necessary, the work robot 22.
  • the second plate member 58 is pressed in the direction opposite to the arrow B direction by driving the carry-out cylinder 46.
  • the third frame body 54 moves integrally with the instrument panel gripping means 78 in the direction opposite to the arrow B direction, that is, the direction outside the passenger compartment, and assists the operation of the work robots 20 and 22 (step S9).
  • the instrument panel gripping means 78 When the instrument panel gripping means 78 is moved outside the vehicle compartment 14a, the instrument panel gripping means 78 is released from the instrument panel gripping means 78 after the gripping of the instrument panel gripping means 78 by the work robots 20 and 22 is released (YES in step S10). It is carried out from the assembly station (step S11).
  • the assist device 18 is switched from the instrument panel assist conveyance mode to the instrument panel automatic conveyance mode. Then, the retreat cylinder 34 is driven, and the first plate member 56 is pressed in the direction opposite to the arrow T direction. For this reason, the second frame 42 moves in the direction opposite to the arrow T direction integrally with the third frame 54.
  • the third limit switch 88c is turned on to stop the driving of the assist machine 18 (step S12).
  • the hand portion 96 attached to the wrist portion 94 of the work robot 20 uses the bolt 110 accommodated in the bolt stock portion 112. Grip and align in a standing posture on the preset stand 114 (step S101 in FIG. 6).
  • the bolts 110 aligned in the standing posture are rotated, and phase matching is performed corresponding to the nut runners 106a and 106b of the nut runner unit 98. Thereafter, the bolts 110 are respectively held by the nut runners 106a and 106b (step S102).
  • the work robot 20 assists the posture changing operation of the assist machine 18 (see step S4 in FIG. 5) (step S103), and then proceeds to step S104 to sense the vehicle body 14. Specifically, the body side reference hole of the automobile body 14 is photographed by the camera 108 of the photographing unit 100 attached to the work robot 20, and this reference hole image information is input to the image processing device 120. Then, the calculation unit 122 determines whether or not the body-side reference hole position is good based on the input image information, and outputs a correction value to the main controller 124 as necessary.
  • the work robot 20 grips the operation lever 82 of the assisting machine 18 with the hand unit 96 (step S105), and then operates the operation lever 82 to convert the instrument panel 24 into the in-vehicle posture (step S106).
  • the in-vehicle posture instrument panel 24 is set in the passenger compartment 14a (step S107).
  • step S108 moves the instrument panel gripping means 78 to the outside of the passenger compartment 14a under the assisting action of the assisting machine 18 (step S108), and operates the operation lever 82. Is released (step S109).
  • the work robot 20 senses the set position of the instrument panel 24 by the camera 108 (step S110). In this set position sensing, when the displacement between the body side reference hole and the reference hole of the instrument panel 24 occurs, the work robot 20 adjusts the position of the instrument panel 24.
  • step S111 the bolts 110 held by the nut runners 106a and 106b constituting the nut runner unit 98 are screwed into the body side reference hole and the instrument panel side reference hole, and the instrument panel 24 is moved to the automobile. It is assembled to the vehicle body 14.
  • the nut runners 106a and 106b are disposed in the retracted positions via the rodless cylinders 103a and 103b.
  • the rodless cylinder 103a is driven to advance the nut runner 106a.
  • the bolt 110 held by the nut runner 106a is screwed into the body side reference hole and the instrument panel side reference hole.
  • the nut runner 106b is retracted to a position where it does not interfere with the work.
  • the rodless cylinder 103a When the bolt tightening operation is completed by the nut runner 106a, the rodless cylinder 103a is driven and the nut runner 106a moves backward. On the other hand, the rodless cylinder 103b is driven to advance the nut runner 106b, and the bolt 110 is screwed into the other body side reference hole and the instrument panel side reference hole under the rotating action of the nut runner 106b.
  • the work robot 22 operates in the same manner as the work robot 20 described above, and a detailed description thereof is omitted. Note that the process of step S103 is performed only by the work robot 20.
  • the assisting machine 18 grips and takes out the instrument panel 24 from the instrument panel take-out station 28 via the instrument panel holding means 78 and automatically conveys it, and then the instrument panel by the work robot 20 is used. It has an assist function for holding the weight of the instrument panel 24 during the assembling work of the 24 into the passenger compartment 14a.
  • the work robot 20 sets the instrument panel 24 in the vehicle compartment 14a, the load applied to the work robot 20 is effectively reduced.
  • the work robot 20 can be favorably downsized, the attachment device 10 as a whole can be easily downsized and simplified, and the attachment operation of the instrument panel 24 can be performed quickly and efficiently. Become.
  • the weight of the instrument panel 24 is held by the assist machine 18. Therefore, the influence of inertia is reduced, and the positioning operation of the instrument panel 24, which is a heavy object, is simplified at once by the joint work of the left and right work robots 20 and 22.
  • the work robots 20 and 22 are stopped due to maintenance or the like, the work robots 20 and 22 are retracted from the instrument panel mounting work station. In this state, the operator can easily perform the assembling work of the instrument panel 24 under the assisting action of the assisting machine 18.
  • the work robots 20 and 22 are equipped with a nutrunner unit 98 for screwing the instrument panel 24 to the instrument panel mounting position in the passenger compartment 14a. Therefore, the floor space occupied by the entire work facility can be further reduced, and space efficiency can be improved.
  • the hand robot 96, the nutrunner unit 98, and the photographing unit 100 are attached to the work robots 20 and 22, but the present invention is not limited to this.
  • the work robots 20 and 22 only need to include at least one of the hand unit 96 and the nutrunner unit 98.
  • FIG. 12 is a schematic perspective explanatory view of an instrument panel gripping means 126 constituting a mounting device for a vehicle instrument panel according to a second embodiment of the present invention.
  • the same referential mark is attached
  • the instrument panel gripping means 126 includes a pair of instrument panel support arms 72 that can be opened and closed via cylinders 70 and 70, and the instrument panel support arm 72 is provided with a movable coupling member 128.
  • the movable coupling member 128 has a rectangular cross section, and can be switched to a mounting angle position that forms an angle of 90 ° with each other.
  • the movable coupling member 128 is gripped by the hand unit 96. Therefore, the movable coupling member 128 can be switched to one of two angular positions in accordance with the shape of the instrument panel 24 and the like. Thereby, in 2nd Embodiment, it can respond easily to the instrument panel 24 from which a model differs.
  • FIG. 13 is a schematic perspective explanatory view of an assisting machine 130 that constitutes a mounting device for a vehicle instrument panel according to a third embodiment of the present invention.
  • the same reference number is attached
  • the assist machine 130 includes a travel motor 134 that can advance and retract along the lower portion of the first frame 30 via the rack and pinion means 132.
  • the travel motor 134 is fixed to the second frame body 42.
  • the second frame 42 is provided with a travel motor 138 that extends in the direction of arrow B and can be advanced and retracted via rack and pinion means 136.
  • the travel motor 138 is fixed to the third frame 54.
  • the instrument panel gripping means 78 for gripping the instrument panel 24 can be assisted and driven in the directions of arrows T and B under the driving action of the travel motors 134 and 138, and the first limit Based on the on / off signals of the switches 88a to 88e, the instrument panel gripping means 78 can be accurately and reliably positioned at a desired position.
  • the instrument panel 24 is gripped by the instrument panel gripping means 78, and after the instrument panel gripping means 78 reaches the ascending end position, the second frame body 42 and the third frame are driven under the driving action of the travel motor 134.
  • the instrument panel gripping means 78 moves in the direction of arrow T through the body 54.
  • the first limit switch 88a When the first limit switch 88a is turned on, the driving of the traveling motor 134 is stopped, so that the instrument panel 24 is disposed at the closing position. On the other hand, when the instrument panel gripping means 78 is returned to the original position, the instrument panel gripping means 78 unclamps the instrument panel 24, and the instrument panel gripping means 78 is unclamped by the work robots 20 and 22. The traveling motor 134 is rotated in the reverse direction. When the third limit switch 88c is turned on, it is detected that the instrument panel gripping means 78 returns to the original position.
  • the instrument panel 24 is put in, the instrument panel 24 is gripped by the instrument panel gripping means 78, the posture change of the instrument panel 24 is completed, and the first limit switch 88a is turned on.
  • the traveling motor 138 is driven.
  • the instrument panel gripping means 78 when the instrument panel gripping means 78 is carried out, the instrument panel gripping means 78 unclamps the instrument panel 24, the gripping of the instrument panel gripping means 78 by the work robots 20 and 22 is eliminated, and the first limit switch.
  • the traveling motor 138 is driven in the reverse direction with 88a turned on.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif (10) de montage de tableau de bord de véhicule comprenant une machine d'assistance (18) et des robots de travail (20, 22). La machine d'assistance (18) comporte des moyens de retenue de tableau de bord (78) destinés à retenir un tableau de bord (24), elle transporte le tableau de bord (24) et inclut une fonction d'assistance pour retenir le poids du tableau de bord (24). Les robots de travail (20, 22) comportent des moyens de connexion (80) reliés de façon amovible aux moyens de retenue de tableau de bord (78) et actionnent les moyens de retenue de tableau de bord (78) pour placer le tableau de bord (24) dans un habitacle de véhicule (14a).
PCT/JP2009/050523 2008-02-12 2009-01-16 Dispositif et procédé de montage de tableau de bord de véhicule WO2009101835A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US12/866,429 US8479369B2 (en) 2008-02-12 2009-01-16 Device and method for mounting vehicle instrument panel
CN200980104940.2A CN101952161B (zh) 2008-02-12 2009-01-16 安装车辆仪表盘的装置和方法

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2008030488A JP4896049B2 (ja) 2008-02-12 2008-02-12 車両用インストルメントパネルの取り付け装置及び方法
JP2008-030488 2008-02-12
JP2008-030487 2008-02-12
JP2008030487A JP4896048B2 (ja) 2008-02-12 2008-02-12 車両用インストルメントパネルの取り付け装置及び方法

Publications (1)

Publication Number Publication Date
WO2009101835A1 true WO2009101835A1 (fr) 2009-08-20

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2009/050523 WO2009101835A1 (fr) 2008-02-12 2009-01-16 Dispositif et procédé de montage de tableau de bord de véhicule

Country Status (3)

Country Link
US (1) US8479369B2 (fr)
CN (1) CN101952161B (fr)
WO (1) WO2009101835A1 (fr)

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GB2484383A (en) * 2010-10-06 2012-04-11 Gm Global Tech Operations Inc A jackscrew bearing
JP2017508634A (ja) * 2014-03-10 2017-03-30 ディアメド ゲーエムベーハーＤｉａＭｅｄ ＧｍｂＨ ロボット装置を初期設定および制御するための方法
CN107336008A (zh) * 2017-07-06 2017-11-10 江门市科达仪表有限公司 一种摩托车仪表机芯的自动装配装置
CN107336007A (zh) * 2017-07-06 2017-11-10 江门市科达仪表有限公司 一种带有轴杆卡簧组装的摩托车仪表机芯的组装设备

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JP5682755B2 (ja) * 2011-02-03 2015-03-11 マツダ株式会社 インパネモジュールの車両搭載方法
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KR101326835B1 (ko) * 2011-12-06 2013-11-07 현대자동차주식회사 다차종 차체 조립 시스템의 사이드 정위치 장치
CN102513805A (zh) * 2011-12-14 2012-06-27 奇瑞汽车股份有限公司 汽车装配可移动旋转托盘
JP5507595B2 (ja) * 2012-02-17 2014-05-28 ファナック株式会社 ロボットを用いた物品組付け装置
EP2783791B1 (fr) * 2013-03-27 2015-11-18 Etel S. A.. Dispositif de positionnement avec portique
KR101509695B1 (ko) * 2013-04-03 2015-04-07 현대자동차 주식회사 차량 조립용 체결 보증 시스템 및 그 제어 방법
DE102013105888A1 (de) * 2013-06-07 2014-12-11 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren und Vorrichtung zum Einbau eines Cockpits in ein Fahrzeug
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CN108817933B (zh) * 2018-09-05 2020-08-11 珠海格力智能装备有限公司 打螺钉自动纠偏装置
FR3093020A1 (fr) * 2019-02-25 2020-08-28 Valeo Systemes Thermiques Procédé d’assemblage d’un dispositif de chauffage, ventilation et/ou climatisation pour véhicule automobile
DE102020132968A1 (de) 2020-12-10 2022-06-15 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Montage von Cockpitmodulen, Vorrichtung sowie Kraftfahrzeug
EP4011708A1 (fr) 2020-12-10 2022-06-15 Volvo Truck Corporation Véhicule à moteur comprenant un boîtier pour composants électroniques s'étendant sous le plancher de la cabine
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CN112622621B (zh) * 2021-03-10 2021-05-11 山东交通职业学院 用于安装车辆主仪表板和副仪表板的安装装置及安装方法
DE202021103093U1 (de) 2021-06-08 2022-06-10 Dürr Assembly Products GmbH Vorrichtung zum Greifen länglicher Befestigungselemente aus einem ungeordneten Lager

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GB2484383A (en) * 2010-10-06 2012-04-11 Gm Global Tech Operations Inc A jackscrew bearing
GB2484383B (en) * 2010-10-06 2016-09-14 Gm Global Tech Operations Llc A jackscrew bearing
JP2017508634A (ja) * 2014-03-10 2017-03-30 ディアメド ゲーエムベーハーＤｉａＭｅｄ ＧｍｂＨ ロボット装置を初期設定および制御するための方法
CN107336008A (zh) * 2017-07-06 2017-11-10 江门市科达仪表有限公司 一种摩托车仪表机芯的自动装配装置
CN107336007A (zh) * 2017-07-06 2017-11-10 江门市科达仪表有限公司 一种带有轴杆卡簧组装的摩托车仪表机芯的组装设备

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CN101952161B (zh) 2013-01-23
CN101952161A (zh) 2011-01-19
US8479369B2 (en) 2013-07-09
US20100319182A1 (en) 2010-12-23

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